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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Used to convert and store data from and/or about a range sensor.  
 <a href="classArSensorReading.html#details">More...</a></p>

<p><code>#include &lt;ArSensorReading.h&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:acd3093be740498f33be76d87ca6af833"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#acd3093be740498f33be76d87ca6af833">applyEncoderTransform</a> (<a class="el" href="classArTransform.html">ArTransform</a> trans)</td></tr>
<tr class="memdesc:acd3093be740498f33be76d87ca6af833"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies a transform to the encoder pose taken.  <a href="#acd3093be740498f33be76d87ca6af833">More...</a><br /></td></tr>
<tr class="separator:acd3093be740498f33be76d87ca6af833"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a507ad30658e6c01655175886dd5ff9f7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a507ad30658e6c01655175886dd5ff9f7">applyTransform</a> (<a class="el" href="classArTransform.html">ArTransform</a> trans)</td></tr>
<tr class="memdesc:a507ad30658e6c01655175886dd5ff9f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies a transform to the reading position, and where it was taken.  <a href="#a507ad30658e6c01655175886dd5ff9f7">More...</a><br /></td></tr>
<tr class="separator:a507ad30658e6c01655175886dd5ff9f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8dd24781fdb81443bab7544051aefa2a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a8dd24781fdb81443bab7544051aefa2a">ArSensorReading</a> (double xPos=0.0, double yPos=0.0, double thPos=0.0)</td></tr>
<tr class="memdesc:a8dd24781fdb81443bab7544051aefa2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor, the three args are the physical location of the sensor.  <a href="#a8dd24781fdb81443bab7544051aefa2a">More...</a><br /></td></tr>
<tr class="separator:a8dd24781fdb81443bab7544051aefa2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5f94579779c1426a45f704219538d1c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa5f94579779c1426a45f704219538d1c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#aa5f94579779c1426a45f704219538d1c">ArSensorReading</a> (const <a class="el" href="classArSensorReading.html">ArSensorReading</a> &amp;reading)</td></tr>
<tr class="memdesc:aa5f94579779c1426a45f704219538d1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
<tr class="separator:aa5f94579779c1426a45f704219538d1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1629e42ff337652808c2063bf6be772"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#ab1629e42ff337652808c2063bf6be772">getAdjusted</a> (void)</td></tr>
<tr class="memdesc:ab1629e42ff337652808c2063bf6be772"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether a transform to this reading's position was applied (An adjustment transform due to robot position and motion, etc.  <a href="#ab1629e42ff337652808c2063bf6be772">More...</a><br /></td></tr>
<tr class="separator:ab1629e42ff337652808c2063bf6be772"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd54cb95316c939c8245d0671058afec"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#acd54cb95316c939c8245d0671058afec">getCounterTaken</a> (void) const </td></tr>
<tr class="memdesc:acd54cb95316c939c8245d0671058afec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the counter from when the reading arrived.  <a href="#acd54cb95316c939c8245d0671058afec">More...</a><br /></td></tr>
<tr class="separator:acd54cb95316c939c8245d0671058afec"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a520c60fb3a56aa8cda06bf9cb988cb9b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a520c60fb3a56aa8cda06bf9cb988cb9b">getEncoderPoseTaken</a> (void) const </td></tr>
<tr class="memdesc:a520c60fb3a56aa8cda06bf9cb988cb9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the robot's encoder pose the reading was taken at.  <a href="#a520c60fb3a56aa8cda06bf9cb988cb9b">More...</a><br /></td></tr>
<tr class="separator:a520c60fb3a56aa8cda06bf9cb988cb9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bd2d4d10670a61fbfb8141219e13a60"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a4bd2d4d10670a61fbfb8141219e13a60">getExtraInt</a> (void) const </td></tr>
<tr class="memdesc:a4bd2d4d10670a61fbfb8141219e13a60"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the extra int with this reading.  <a href="#a4bd2d4d10670a61fbfb8141219e13a60">More...</a><br /></td></tr>
<tr class="separator:a4bd2d4d10670a61fbfb8141219e13a60"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a131d02d66ea86c75c43c5323f19d6340"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a131d02d66ea86c75c43c5323f19d6340">getIgnoreThisReading</a> (void) const </td></tr>
<tr class="memdesc:a131d02d66ea86c75c43c5323f19d6340"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether this reading should be ignore or not.  <a href="#a131d02d66ea86c75c43c5323f19d6340">More...</a><br /></td></tr>
<tr class="separator:a131d02d66ea86c75c43c5323f19d6340"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a1d846fba2847dc1ed17390e6c1c045"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a1a1d846fba2847dc1ed17390e6c1c045">getLocalPose</a> (void) const </td></tr>
<tr class="memdesc:a1a1d846fba2847dc1ed17390e6c1c045"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the position of the reading.  <a href="#a1a1d846fba2847dc1ed17390e6c1c045">More...</a><br /></td></tr>
<tr class="separator:a1a1d846fba2847dc1ed17390e6c1c045"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4920cfd229668bbaa63ea89a3f157703"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4920cfd229668bbaa63ea89a3f157703"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a4920cfd229668bbaa63ea89a3f157703">getLocalX</a> (void) const </td></tr>
<tr class="memdesc:a4920cfd229668bbaa63ea89a3f157703"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the X location of the sensor reading in local coords. <br /></td></tr>
<tr class="separator:a4920cfd229668bbaa63ea89a3f157703"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15d1e4718cb8599d52c4060a71202f34"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a15d1e4718cb8599d52c4060a71202f34"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a15d1e4718cb8599d52c4060a71202f34">getLocalY</a> (void) const </td></tr>
<tr class="memdesc:a15d1e4718cb8599d52c4060a71202f34"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the Y location of the sensor reading. <br /></td></tr>
<tr class="separator:a15d1e4718cb8599d52c4060a71202f34"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae031a87d0a1849d9a694aaa28fbaa223"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#ae031a87d0a1849d9a694aaa28fbaa223">getPose</a> (void) const </td></tr>
<tr class="memdesc:ae031a87d0a1849d9a694aaa28fbaa223"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the position of the reading.  <a href="#ae031a87d0a1849d9a694aaa28fbaa223">More...</a><br /></td></tr>
<tr class="separator:ae031a87d0a1849d9a694aaa28fbaa223"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fe53b19d04b9c0e411fca6bb2513244"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a2fe53b19d04b9c0e411fca6bb2513244">getPoseTaken</a> (void) const </td></tr>
<tr class="memdesc:a2fe53b19d04b9c0e411fca6bb2513244"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the pose of the robot at which the reading was taken.  <a href="#a2fe53b19d04b9c0e411fca6bb2513244">More...</a><br /></td></tr>
<tr class="separator:a2fe53b19d04b9c0e411fca6bb2513244"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa49348d6ab0365e6ee413ba190d90514"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#aa49348d6ab0365e6ee413ba190d90514">getRange</a> (void) const </td></tr>
<tr class="memdesc:aa49348d6ab0365e6ee413ba190d90514"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the range from sensor of the reading.  <a href="#aa49348d6ab0365e6ee413ba190d90514">More...</a><br /></td></tr>
<tr class="separator:aa49348d6ab0365e6ee413ba190d90514"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abead0bbe3933cdfb22110f6dc9b09400"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abead0bbe3933cdfb22110f6dc9b09400"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#abead0bbe3933cdfb22110f6dc9b09400">getSensorDX</a> (void) const </td></tr>
<tr class="memdesc:abead0bbe3933cdfb22110f6dc9b09400"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the cosine component of the heading of the sensor reading. <br /></td></tr>
<tr class="separator:abead0bbe3933cdfb22110f6dc9b09400"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f0aa532d145fd335ff1f6a96b56f0a8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8f0aa532d145fd335ff1f6a96b56f0a8"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a8f0aa532d145fd335ff1f6a96b56f0a8">getSensorDY</a> (void) const </td></tr>
<tr class="memdesc:a8f0aa532d145fd335ff1f6a96b56f0a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the sine component of the heading of the sensor reading. <br /></td></tr>
<tr class="separator:a8f0aa532d145fd335ff1f6a96b56f0a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c87c9a05ba87eecaf9f39e8ccc75159"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a8c87c9a05ba87eecaf9f39e8ccc75159">getSensorPosition</a> (void) const </td></tr>
<tr class="memdesc:a8c87c9a05ba87eecaf9f39e8ccc75159"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the sensor's position on the robot.  <a href="#a8c87c9a05ba87eecaf9f39e8ccc75159">More...</a><br /></td></tr>
<tr class="separator:a8c87c9a05ba87eecaf9f39e8ccc75159"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ab1dc424a8bdbfd80bfca0c57e2dec7"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a8ab1dc424a8bdbfd80bfca0c57e2dec7">getSensorTh</a> (void) const </td></tr>
<tr class="memdesc:a8ab1dc424a8bdbfd80bfca0c57e2dec7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the heading of the sensor on the robot.  <a href="#a8ab1dc424a8bdbfd80bfca0c57e2dec7">More...</a><br /></td></tr>
<tr class="separator:a8ab1dc424a8bdbfd80bfca0c57e2dec7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f2409c6045b647c9070b3cd2a8a8448"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a6f2409c6045b647c9070b3cd2a8a8448">getSensorX</a> (void) const </td></tr>
<tr class="memdesc:a6f2409c6045b647c9070b3cd2a8a8448"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the X location of the sonar on the robot.  <a href="#a6f2409c6045b647c9070b3cd2a8a8448">More...</a><br /></td></tr>
<tr class="separator:a6f2409c6045b647c9070b3cd2a8a8448"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abefa71a272a1aa077a903d716f92a091"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#abefa71a272a1aa077a903d716f92a091">getSensorY</a> (void) const </td></tr>
<tr class="memdesc:abefa71a272a1aa077a903d716f92a091"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the Y location of the sensor on the robot.  <a href="#abefa71a272a1aa077a903d716f92a091">More...</a><br /></td></tr>
<tr class="separator:abefa71a272a1aa077a903d716f92a091"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c2224d460da099752c7ba0afbb5602e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a5c2224d460da099752c7ba0afbb5602e">getThTaken</a> (void) const </td></tr>
<tr class="memdesc:a5c2224d460da099752c7ba0afbb5602e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the th (heading) of the robot when the reading was received.  <a href="#a5c2224d460da099752c7ba0afbb5602e">More...</a><br /></td></tr>
<tr class="separator:a5c2224d460da099752c7ba0afbb5602e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb2acede0336b39df047d56f8835e5cb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeb2acede0336b39df047d56f8835e5cb"></a>
<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><b>getTimeTaken</b> (void) const </td></tr>
<tr class="separator:aeb2acede0336b39df047d56f8835e5cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af421b63a5262d1b3913ee43250ab3aaf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af421b63a5262d1b3913ee43250ab3aaf"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#af421b63a5262d1b3913ee43250ab3aaf">getX</a> (void) const </td></tr>
<tr class="memdesc:af421b63a5262d1b3913ee43250ab3aaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the X location of the sensor reading. <br /></td></tr>
<tr class="separator:af421b63a5262d1b3913ee43250ab3aaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:affda2edb5b5b54ed2aa50539d624148c"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#affda2edb5b5b54ed2aa50539d624148c">getXTaken</a> (void) const </td></tr>
<tr class="memdesc:affda2edb5b5b54ed2aa50539d624148c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the X locaiton of the robot when the reading was received.  <a href="#affda2edb5b5b54ed2aa50539d624148c">More...</a><br /></td></tr>
<tr class="separator:affda2edb5b5b54ed2aa50539d624148c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a59f6f1ecbf6b37c636b27dedb3959562"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a59f6f1ecbf6b37c636b27dedb3959562"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a59f6f1ecbf6b37c636b27dedb3959562">getY</a> (void) const </td></tr>
<tr class="memdesc:a59f6f1ecbf6b37c636b27dedb3959562"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the Y location of the sensor reading. <br /></td></tr>
<tr class="separator:a59f6f1ecbf6b37c636b27dedb3959562"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cf3574d97fdab8f994d70d73d34fe79"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a6cf3574d97fdab8f994d70d73d34fe79">getYTaken</a> (void) const </td></tr>
<tr class="memdesc:a6cf3574d97fdab8f994d70d73d34fe79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the Y location of the robot when the reading was received.  <a href="#a6cf3574d97fdab8f994d70d73d34fe79">More...</a><br /></td></tr>
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<tr class="memitem:a2dce6270a7cabc6eb3c40d8246cd16bb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a2dce6270a7cabc6eb3c40d8246cd16bb">isNew</a> (unsigned int counter) const </td></tr>
<tr class="memdesc:a2dce6270a7cabc6eb3c40d8246cd16bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the counter from the robot, it returns whether the reading is new.  <a href="#a2dce6270a7cabc6eb3c40d8246cd16bb">More...</a><br /></td></tr>
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<tr class="memitem:aabcfe224b429a2406f76a88e71cf2420"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#aabcfe224b429a2406f76a88e71cf2420">newData</a> (int range, <a class="el" href="classArPose.html">ArPose</a> robotPose, <a class="el" href="classArPose.html">ArPose</a> encoderPose, <a class="el" href="classArTransform.html">ArTransform</a> trans, unsigned int counter, <a class="el" href="classArTime.html">ArTime</a> timeTaken, bool ignoreThisReading=false, int extraInt=0)</td></tr>
<tr class="memdesc:aabcfe224b429a2406f76a88e71cf2420"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update data.  <a href="#aabcfe224b429a2406f76a88e71cf2420">More...</a><br /></td></tr>
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<tr class="memitem:a987885b3adfcc9687b54b7847667ba90"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a987885b3adfcc9687b54b7847667ba90">newData</a> (int sx, int sy, <a class="el" href="classArPose.html">ArPose</a> robotPose, <a class="el" href="classArPose.html">ArPose</a> encoderPose, <a class="el" href="classArTransform.html">ArTransform</a> trans, unsigned int counter, <a class="el" href="classArTime.html">ArTime</a> timeTaken, bool ignoreThisReading=false, int extraInt=0)</td></tr>
<tr class="memdesc:a987885b3adfcc9687b54b7847667ba90"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update data.  <a href="#a987885b3adfcc9687b54b7847667ba90">More...</a><br /></td></tr>
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<a class="el" href="classArSensorReading.html">ArSensorReading</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a021a383dac97015ea500053aee11f9e8">operator=</a> (const <a class="el" href="classArSensorReading.html">ArSensorReading</a> &amp;reading)</td></tr>
<tr class="memdesc:a021a383dac97015ea500053aee11f9e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assignment operator. <br /></td></tr>
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<tr class="memitem:a66fd0842a90e181ec2b1b2ded2e2d1e9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a66fd0842a90e181ec2b1b2ded2e2d1e9">resetSensorPosition</a> (double xPos, double yPos, double thPos, bool forceComputation=false)</td></tr>
<tr class="memdesc:a66fd0842a90e181ec2b1b2ded2e2d1e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets the sensors idea of its physical location on the robot.  <a href="#a66fd0842a90e181ec2b1b2ded2e2d1e9">More...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#ad354b788441fd7cfe5389ead5b6d1488">setAdjusted</a> (bool adjusted)</td></tr>
<tr class="memdesc:ad354b788441fd7cfe5389ead5b6d1488"><td class="mdescLeft">&#160;</td><td class="mdescRight">Applies a transform to the reading position, and where it was taken. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#ac0b214302b667b489ae7f34170c847a6">setExtraInt</a> (int extraInt)</td></tr>
<tr class="memdesc:ac0b214302b667b489ae7f34170c847a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the extra int. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a3649a3286a5ff4b1a3be03bebf8056de">setIgnoreThisReading</a> (bool ignoreThisReading)</td></tr>
<tr class="memdesc:a3649a3286a5ff4b1a3be03bebf8056de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets that we should ignore this reading. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSensorReading.html#a37dbb385aa53605f290da34cc4188aa7">~ArSensorReading</a> ()</td></tr>
<tr class="memdesc:a37dbb385aa53605f290da34cc4188aa7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a95463f035bcca8a3ef9ccf7d33f4dfb0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a95463f035bcca8a3ef9ccf7d33f4dfb0"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myAdjusted</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myAngleToCenter</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myCounterTaken</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myDistToCenter</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myEncoderPoseTaken</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myExtraInt</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myIgnoreThisReading</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myLocalReading</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myRange</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myReading</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myReadingTaken</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySensorCos</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>mySensorPos</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySensorSin</b></td></tr>
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<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myTimeTaken</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Used to convert and store data from and/or about a range sensor. </p>
<p>This class holds sensor information and a sensor reading position and other data (X,Y location of the reading (typically in robot's global coordinate system) plus a counter and timestamp for that reading, position of the robot when the reading was taken, and other information).</p>
<p>This class can optionally be used to only store information about the sensor, but no reading data, in which case the range (<a class="el" href="classArSensorReading.html#aa49348d6ab0365e6ee413ba190d90514" title="Gets the range from sensor of the reading. ">getRange()</a>) will be -1, and the counter (<a class="el" href="classArSensorReading.html#acd54cb95316c939c8245d0671058afec" title="Gets the counter from when the reading arrived. ">getCounterTaken()</a>) value will be 0, and <a class="el" href="classArSensorReading.html#a2dce6270a7cabc6eb3c40d8246cd16bb" title="Given the counter from the robot, it returns whether the reading is new. ">isNew()</a> will return false as well.</p>
<p>The ignoreThisReading() indicates whether applications should ignore the data or not. (Used to disable sensors data in robot and application configuration.)</p>
<p>Typical use is to create an <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> object representing an indidiual sensor that can sense distance (range) in one direction, or a set of ArSensorReadings corresponding to the set of range data returned by a sensor that provides multiple range measurements (e.g. most scanning laser rangefinders provide a set of readings, each at different angles but from the same measurement origin point. The <a class="el" href="classArRangeDevice.html" title="The base class for all sensing devices which return range information from the device (mounted on a r...">ArRangeDevice</a> subclasses for laser rangefinders in ARIA use a set of <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> objects to store and convert the raw range data read from the laser rangefinder device, then those are used to update the "raw", "current" and other <a class="el" href="classArRangeBuffer.html" title="This class is a buffer that holds ranging information. ">ArRangeBuffer</a> objects in <a class="el" href="classArRangeDevice.html" title="The base class for all sensing devices which return range information from the device (mounted on a r...">ArRangeDevice</a>.)</p>
<p>Provide the position and orientation of the sensor reading relative to the center of the robot in the <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> constructor, or call <a class="el" href="classArSensorReading.html#a66fd0842a90e181ec2b1b2ded2e2d1e9" title="Resets the sensors idea of its physical location on the robot. ">resetSensorPosition()</a> to change.</p>
<p>Update data in an <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> object by calling <a class="el" href="classArSensorReading.html#aabcfe224b429a2406f76a88e71cf2420" title="Update data. ">newData()</a>. The range value provided will be projected to a local cartesian cooridate based on the ArSensorReadings sensor position on the robot as supplied in the constructor or call to <a class="el" href="classArSensorReading.html#a66fd0842a90e181ec2b1b2ded2e2d1e9" title="Resets the sensors idea of its physical location on the robot. ">resetSensorPosition()</a>, and alrso transformed a global coordinate system based on a supplied transform (usually this is the robot's global coordinate system using <a class="el" href="classArRobot.html#adf0187bab7d572ad65be3849b2cd7c96" title="This gets the transform from local coords to global coords. ">ArRobot::getToGlobalTransform()</a>). An incrementing counter must also be provided, and a timestamp. The counter is used to check for updated data (by this class and other classes using <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> objects), so it should increment when data is updated. The timestamp may be used by other classes to determine age of data. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">ArSensorReading::ArSensorReading </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xPos</em> = <code>0.0</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>yPos</em> = <code>0.0</code>, </td>
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          <td class="paramkey"></td>
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          <td class="paramname"><em>thPos</em> = <code>0.0</code>&#160;</td>
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<p>Constructor, the three args are the physical location of the sensor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xPos</td><td>the x position of the sensor on the robot (mm) </td></tr>
    <tr><td class="paramname">yPos</td><td>the y position of the sensor on the robot (mm) </td></tr>
    <tr><td class="paramname">thPos</td><td>the heading of the sensor on the robot (deg) </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void ArSensorReading::applyEncoderTransform </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArTransform.html">ArTransform</a>&#160;</td>
          <td class="paramname"><em>trans</em></td><td>)</td>
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<p>Applies a transform to the encoder pose taken. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">trans</td><td>the transform to apply to the encoder pose taken </td></tr>
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          <td class="memname">void ArSensorReading::applyTransform </td>
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          <td class="paramtype"><a class="el" href="classArTransform.html">ArTransform</a>&#160;</td>
          <td class="paramname"><em>trans</em></td><td>)</td>
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<p>Applies a transform to the reading position, and where it was taken. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">trans</td><td>the transform to apply to the reading and where the reading was taken </td></tr>
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          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p>Whether a transform to this reading's position was applied (An adjustment transform due to robot position and motion, etc. </p>
<p>is normally initiated automatically by the range device class which is providing this sensor reading.) </p>

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          <td class="memname">unsigned int ArSensorReading::getCounterTaken </td>
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<p>Gets the counter from when the reading arrived. </p>
<dl class="section return"><dt>Returns</dt><dd>the counter from the robot when the sonar reading was taken </dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a2dce6270a7cabc6eb3c40d8246cd16bb" title="Given the counter from the robot, it returns whether the reading is new. ">isNew</a> </dd></dl>

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<p>Gets the robot's encoder pose the reading was taken at. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a2fe53b19d04b9c0e411fca6bb2513244" title="Gets the pose of the robot at which the reading was taken. ">getPoseTaken()</a> </dd>
<dd>
<a class="el" href="classArRobot.html#a6299aaf435ca151f9b15a8cb5bfa9ad3" title="Get the position of the robot according to the last robot SIP, possibly with gyro correction if insta...">ArRobot::getEncoderPose()</a> </dd></dl>

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<p>Gets the extra int with this reading. </p>
<p>Some range devices provide extra device-dependent information with each reading. What that means depends on the range device, if a range device doesn't give the meaning in its constructor description then it has no meaning at all.</p>
<p>Note that for all laser like devices this should be a value between 0 - 255 which is the measure of reflectance. It should be 0 if that device doesn't measure reflectance (the default). </p>

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<p>Gets whether this reading should be ignore or not. </p>
<p>e.g. the sensor encountered an error or did not actually detect anything. </p>

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<p>Gets the position of the reading. </p>
<dl class="section return"><dt>Returns</dt><dd>the position of the reading (ie the obstacle where the sonar pinged back) </dd></dl>

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<p>Gets the position of the reading. </p>
<dl class="section return"><dt>Returns</dt><dd>the position of the reading (ie where the sonar pinged back) </dd></dl>

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<p>Gets the pose of the robot at which the reading was taken. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a520c60fb3a56aa8cda06bf9cb988cb9b" title="Gets the robot&#39;s encoder pose the reading was taken at. ">getEncoderPoseTaken()</a> </dd>
<dd>
getTimeTaken() </dd>
<dd>
<a class="el" href="group__easy.html#ga25c215578baa598a8916947bdf6e1285" title="Get the current stored global position of the robot. ">ArRobot::getPose()</a> </dd></dl>

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<p>Gets the range from sensor of the reading. </p>
<dl class="section return"><dt>Returns</dt><dd>the distance to the reading from the sensor itself </dd></dl>

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<p>Gets the sensor's position on the robot. </p>
<dl class="section return"><dt>Returns</dt><dd>the position of the sensor on the robot </dd></dl>

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<p>Gets the heading of the sensor on the robot. </p>
<dl class="section see"><dt>See also</dt><dd>getsensorPosition() </dd></dl>

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<p>Gets the X location of the sonar on the robot. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a8c87c9a05ba87eecaf9f39e8ccc75159" title="Gets the sensor&#39;s position on the robot. ">getSensorPosition()</a> </dd></dl>

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<p>Gets the Y location of the sensor on the robot. </p>
<dl class="section see"><dt>See also</dt><dd>getsensorPosition() </dd></dl>

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<p>Gets the th (heading) of the robot when the reading was received. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a2fe53b19d04b9c0e411fca6bb2513244" title="Gets the pose of the robot at which the reading was taken. ">getPoseTaken()</a> </dd></dl>

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<p>Gets the X locaiton of the robot when the reading was received. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a2fe53b19d04b9c0e411fca6bb2513244" title="Gets the pose of the robot at which the reading was taken. ">getPoseTaken()</a> </dd></dl>

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<p>Gets the Y location of the robot when the reading was received. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a2fe53b19d04b9c0e411fca6bb2513244" title="Gets the pose of the robot at which the reading was taken. ">getPoseTaken()</a> </dd></dl>

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<p>Given the counter from the robot, it returns whether the reading is new. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">counter</td><td>the counter from the robot at the current time </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>true if the reading was taken on the current loop </dd></dl>
<dl class="section see"><dt>See also</dt><dd>getCounter </dd></dl>

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<p>Update data. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">range</td><td>Sensed distance. Will be projected to a global X,Y position based on the sensor position and <em>robotPose</em> </td></tr>
    <tr><td class="paramname">robotPose</td><td>Robot position in global coordinates space when the sensor data was received. </td></tr>
    <tr><td class="paramname">encoderPose</td><td>Robot encoder-only position in global coordinate space when the sensor data was received. </td></tr>
    <tr><td class="paramname">trans</td><td>Transform reading position from robot-local coordinate system. For example, pass result of <a class="el" href="classArRobot.html#adf0187bab7d572ad65be3849b2cd7c96" title="This gets the transform from local coords to global coords. ">ArRobot::getToGlobalTransform()</a> transform to robot's global coordinate system. </td></tr>
    <tr><td class="paramname">counter</td><td>an incrementing counter used to check for updated data (by this class and other classes using <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> objects) </td></tr>
    <tr><td class="paramname">timeTaken</td><td>System time when this measurement was taken or received. </td></tr>
    <tr><td class="paramname">ignoreThisReading</td><td>Set the "ignore" flag for this reading. Data is stored but applications (e.g. navigation) may use this flag to ignore some sensor readings based on robot or user configuration. </td></tr>
    <tr><td class="paramname">extraInt</td><td>extra device-specific data. </td></tr>
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</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a4bd2d4d10670a61fbfb8141219e13a60" title="Gets the extra int with this reading. ">getExtraInt()</a></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">range</td><td>the distance from the sensor to the sensor return (mm) </td></tr>
    <tr><td class="paramname">robotPose</td><td>the robot's pose when the reading was taken </td></tr>
    <tr><td class="paramname">encoderPose</td><td>the robot's encoder pose when the reading was taken </td></tr>
    <tr><td class="paramname">trans</td><td>the transform from local coords to global coords </td></tr>
    <tr><td class="paramname">counter</td><td>the counter from the robot when the sensor reading was taken </td></tr>
    <tr><td class="paramname">timeTaken</td><td>the time the reading was taken </td></tr>
    <tr><td class="paramname">ignoreThisReading</td><td>if this reading should be ignored or not </td></tr>
    <tr><td class="paramname">extraInt</td><td>extra laser device-specific value associated with this reading (e.g. SICK LMS-200 reflectance) </td></tr>
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        </tr>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Update data. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">range</td><td>Sensed distance. Will be projected to a global X,Y position based on the sensor position and <em>robotPose</em> </td></tr>
    <tr><td class="paramname">robotPose</td><td>Robot position in global coordinates space when the sensor data was received. </td></tr>
    <tr><td class="paramname">encoderPose</td><td>Robot encoder-only position in global coordinate space when the sensor data was received. </td></tr>
    <tr><td class="paramname">trans</td><td>Transform reading position from robot-local coordinate system. For example, pass result of <a class="el" href="classArRobot.html#adf0187bab7d572ad65be3849b2cd7c96" title="This gets the transform from local coords to global coords. ">ArRobot::getToGlobalTransform()</a> transform to robot's global coordinate system. </td></tr>
    <tr><td class="paramname">counter</td><td>an incrementing counter used to check for updated data (by this class and other classes using <a class="el" href="classArSensorReading.html" title="Used to convert and store data from and/or about a range sensor. ">ArSensorReading</a> objects) </td></tr>
    <tr><td class="paramname">timeTaken</td><td>System time when this measurement was taken or received. </td></tr>
    <tr><td class="paramname">ignoreThisReading</td><td>Set the "ignore" flag for this reading. Data is stored but applications (e.g. navigation) may use this flag to ignore some sensor readings based on robot or user configuration. </td></tr>
    <tr><td class="paramname">extraInt</td><td>extra device-specific data. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classArSensorReading.html#a4bd2d4d10670a61fbfb8141219e13a60" title="Gets the extra int with this reading. ">getExtraInt()</a></dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">range</td><td>the distance from the sensor to the sensor return (mm) </td></tr>
    <tr><td class="paramname">robotPose</td><td>the robot's pose when the reading was taken </td></tr>
    <tr><td class="paramname">encoderPose</td><td>the robot's encoder pose when the reading was taken </td></tr>
    <tr><td class="paramname">trans</td><td>the transform from local coords to global coords </td></tr>
    <tr><td class="paramname">counter</td><td>the counter from the robot when the sensor reading was taken </td></tr>
    <tr><td class="paramname">timeTaken</td><td>the time the reading was taken </td></tr>
    <tr><td class="paramname">ignoreThisReading</td><td>if this reading should be ignored or not </td></tr>
    <tr><td class="paramname">extraInt</td><td>extra laser device-specific value associated with this reading (e.g. SICK LMS-200 reflectance)</td></tr>
    <tr><td class="paramname">sx</td><td>the coords of the sensor return relative to sensor (mm) </td></tr>
    <tr><td class="paramname">sy</td><td>the coords of the sensor return relative to sensor (mm) </td></tr>
    <tr><td class="paramname">robotPose</td><td>the robot's pose when the reading was taken </td></tr>
    <tr><td class="paramname">encoderPose</td><td>the robot's encoder pose when the reading was taken </td></tr>
    <tr><td class="paramname">trans</td><td>transform of reading from local to global position </td></tr>
    <tr><td class="paramname">counter</td><td>the counter from the robot when the sensor reading was taken </td></tr>
    <tr><td class="paramname">timeTaken</td><td>the time the reading was taken </td></tr>
    <tr><td class="paramname">ignoreThisReading</td><td>if this reading should be ignored or not </td></tr>
    <tr><td class="paramname">extraInt</td><td>extra laser device-specific value associated with this reading (e.g. SICK LMS-200 reflectance) </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a66fd0842a90e181ec2b1b2ded2e2d1e9"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ArSensorReading::resetSensorPosition </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>xPos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>yPos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>thPos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>forceComputation</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Resets the sensors idea of its physical location on the robot. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">xPos</td><td>the x position of the sensor on the robot (mm) </td></tr>
    <tr><td class="paramname">yPos</td><td>the y position of the sensor on the robot (mm) </td></tr>
    <tr><td class="paramname">thPos</td><td>the heading of the sensor on the robot (deg) </td></tr>
    <tr><td class="paramname">forceComputation</td><td>recompute position even if new position is the same as current </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArSensorReading.h</li>
<li>ArSensorReading.cpp</li>
</ul>
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